Model-based Robust Control of Permanent Magnet Synchronous Motor for Joint Module of Cooperative Robot

摘要

In this paper, a new robust control algorithm is proposed to reduce the influence of load and system parameter changes on the dynamic performance of permanent magnet synchronous motor(PMSM), and finally solve the dynamic control problem of PMSM position tracking. The algorithm's controller is divided into two parts: a nominal control element created using the dynamics model with the goal of stabilizing the nominal motor system; and a robust control element built using the Lyapunov method with the goal of reducing the impact of uncertain factors like nonlinear friction, parameter uncertainty, and outside interference on tracking performance. By means of Lyapunov minimax method, the uniformly bounded and uniformly final bounded systems are proved and the corresponding conclusions are given.Based on the test platform of permanent magnet synchronous motor, this paper uses cSPACE fast controller to do simulation research. The simulation findings demonstrate that the designed controller is capable of achieving more precise position tracking in the presence of ambiguity as well as good control of the permanent magnet synchronous motor.